High Frequency Signal Receiver with Self-Calibrated Group Delay Compensation

ABSTRACT

A signal receiver includes an antenna interface for receiving signals from an antenna, analog signal processing circuitry coupled to the antenna interface for processing the received signals to produce filtered signals, sampling circuitry to sample the filtered signals so as to produce digitized received signals, a digital compensator to receive the digitized received signals and compensate for non-uniform group delay introduced by the analog signal processing circuitry to produce compensated digitized received signals, and a digital processor to process the compensated digitized received signals so as to produce a result.

RELATED APPLICATIONS

This application claims priority to U.S. Provisional Patent ApplicationNo. 61/657,650, filed Jun. 8, 2012, which is hereby incorporated byreference in its entirety.

TECHNICAL FIELD

The disclosed embodiments relate generally to the field of signalprocessing at signal receivers, and in particular to a system and methodfor compensating for group delay distortions at a signal receiver.

BACKGROUND

Signal receivers often include apparatus and circuitry (such as, analogsignal processing circuitry) to condition received signals to havedesired amplitude, phase and/or frequency characteristics. The apparatusand circuitry at the signal receivers may also be designed to eliminateor reduce the effects of interfering noise and other distortionsintroduced into the signals along the signal propagation path, prior tobeing received at the signal receivers.

SUMMARY

In the process of conditioning the received signals, the apparatus andcircuitry (such as, the analog signal processing circuitry) at thesignal receivers may introduce additional signal distortions orundesired characteristics to the received signals.

One form of signal distortion that may be introduced by the apparatusand circuitry at the signal receivers is phase distortion (sometimesherein called group-delay distortion). Phase distortions introduced bythe components of the signal receiver result from a non-linear phaseresponse of the respective components of the signal receiver. Phasedistortions are observed as non-linear phase vs. frequencycharacteristics, or a non-uniform group delay over the frequency passband of interest. Phase distortions limit the ability of the signalreceiver to combine information from signals having differentfrequencies, thereby limiting the accuracy of measurements derived fromwideband signals obtained from combining multiple signals ormulti-frequency signals.

Some embodiments provide a signal receiver that includes an antennainterface for receiving signals from an antenna, analog signalprocessing circuitry coupled to the antenna interface for processing thereceived signals to produce filtered signals, sampling circuitry tosample the filtered signals so as to produce digitized received signals,a compensation mechanism to receive the digitized received signals andcompensate for non-uniform group delay introduced by the analog signalprocessing circuitry to produce compensated digitized received signals,and a digital processor to process the compensated digitized receivedsignals so as to produce a result.

Some embodiments provide a method of signal compensation performed at asignal receiver. The method includes configuring a compensationmechanism at the signal receiver in accordance with processed digitalsignals received by the compensation mechanism in response to injectionof a calibration signal at the signal receiver by a calibration signalgenerator, the configuring including configuring the compensationmechanism to compensate for non-uniform group delay introduced by analogsignal processing circuitry of the signal receiver. The method furtherincludes receiving signals at the signal receiver, processing thereceived signals at the signal receiver to produce digitized receivedsignals, and compensating the digitized received signals using thecompensation mechanism to produce compensated signals.

Some embodiments provide a method of signal compensation performed at asignal receiver. The method includes receiving signals from an antenna;processing the received signals with analog signal processing circuitryto produce filtered signals; sampling the filtered signals with samplingcircuitry to produce digitized received signals; compensating thedigitized received signals, with a compensation mechanism, fornon-uniform group delay introduced by the analog signal processingcircuitry to produce compensated digitized received signals; andprocessing the compensated digitized received signals so as to produce aresult.

In some of the aforementioned embodiments, the compensation mechanism isconfigured by injecting a calibration signal at the signal receiver;transforming digital signals, corresponding to the injected calibrationsignal, received by the compensation mechanism from time-domain tofrequency-domain to produce a complex-valued frequency-domainrepresentation of the processed digital signals; and extractingmagnitude and phase information from the complex-valued frequency-domainrepresentation of the processed digital signals. Configuring thecompensation mechanism further includes computing phase residuals bysubtracting the extracted phase information from targetfrequency-dependent phase information, generating a set of complexvalues from the computed phase residuals, and transforming the set ofcomplex values from frequency-domain to time-domain to producecomplex-valued time-domain filter coefficients corresponding to a finiteimpulse response filter.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates an example application (a GNSS satellite navigationsystem) for a signal receiver with group delay compensation, inaccordance with some embodiments.

FIG. 2 is a block diagram illustrating a signal receiver with groupdelay compensation, in accordance with some embodiments.

FIGS. 3A-3F include block diagrams illustrating components of a signalreceiver with group delay compensation, in accordance with someembodiments.

FIG. 4A includes a flow diagram illustrating configuring of acompensation mechanism of a signal receiver with group delaycompensation, in accordance with some embodiments.

FIGS. 4B-4C include flow diagrams illustrating configuring of acompensation mechanism of a signal receiver with amplitude distortioncompensation, in accordance with some embodiments.

FIGS. 5A-5D include flow charts illustrating methods of signalcompensation at a signal receiver, in accordance with some embodiments.

Like reference numerals refer to corresponding parts throughout thedrawings.

DESCRIPTION OF EMBODIMENTS

It will be understood that although the terms “first,” “second,” etc.may be used herein to describe various elements, these elements shouldnot be limited by these terms. These terms are only used to distinguishone element from another. For example, a first contact could be termed asecond contact, and, similarly, a second contact could be termed a firstcontact, without changing the meaning of the description, so long as alloccurrences of the “first contact” are renamed consistently and alloccurrences of the second contact are renamed consistently. The firstcontact and the second contact are both contacts, but they are not thesame contact.

The terminology used herein is for the purpose of describing particularembodiments only and is not intended to be limiting of the claims. Asused in the description of the embodiments and the appended claims, thesingular forms “a”, “an” and “the” are intended to include the pluralforms as well, unless the context clearly indicates otherwise. It willalso be understood that the term “and/or” as used herein refers to andencompasses any and all possible combinations of one or more of theassociated listed items. It will be further understood that the terms“comprises” and/or “comprising,” when used in this specification,specify the presence of stated features, integers, steps, operations,elements, and/or components, but do not preclude the presence oraddition of one or more other features, integers, steps, operations,elements, components, and/or groups thereof.

As used herein, the term “if” may be construed to mean “when” or “upon”or “in response to determining” or “in accordance with a determination”or “in response to detecting,” that a stated condition precedent istrue, depending on the context. Similarly, the phrase “if it isdetermined [that a stated condition precedent is true]” or “if [a statedcondition precedent is true]” or “when [a stated condition precedent istrue]” may be construed to mean “upon determining” or “in response todetermining” or “in accordance with a determination” or “upon detecting”or “in response to detecting” that the stated condition precedent istrue, depending on the context.

Reference will now be made in detail to various embodiments, examples ofwhich are illustrated in the accompanying drawings. In the followingdetailed description, numerous specific details are set forth in orderto provide a thorough understanding of the described embodiments.However, various embodiments may be practiced without these specificdetails. In other instances, well-known methods, procedures, components,and circuits have not been described in detail so as not tounnecessarily obscure aspects of the embodiments.

FIG. 1 includes a block diagram illustrating an example of a system(e.g., a Global Navigation Satellite System (GNSS) 100) that comprises asignal receiver (such as, Signal Receiver 120) with group delay andamplitude compensation, according to some embodiments.

GNSS 100 comprises one or more GNSS satellite(s) 110 and Signal Receiver120. GNSS satellite(s) 110 transmits signals (e.g., signals containingnavigation information) to be received by Signal Receiver 120. Thesignals transmitted by GNSS satellite(s) 110 travel through variouspropagation media (e.g., layers of the atmosphere) prior to reachingSignal Receiver 120.

The propagation media include undesired Noise and Distortion Source(s)130 which introduce noise and/or distortions into the transmittedsignals, causing the signals transmitted by GNSS satellite(s) 110 to beimpacted detrimentally. Some detrimental effects of noise anddistortions introduced by Noise and Distortion Source(s) 130 includedegradation of signal to noise ratio (e.g., by the introduction ofundesired noise power with frequency content outside—and oftenwithin—the frequency bands of interest), and undesirable and oftennon-uniform, non-deterministic changes to the amplitude, frequency andphase content of the transmitted signals.

Signal Receiver 120 typically includes analog and digital circuitry toat least partially mitigate or counteract the detrimental effects ofNoise and Distortion Source(s) 130 on the received signal.

Further, Signal Receiver 120 includes signal conditioning elements(e.g., filters and amplifiers) in the analog signal processing circuitrythat selectively emphasize signals having frequencies of interest, andreject or attenuate signals that do not have frequencies within thebandwidth of interest.

FIG. 2 is a block diagram illustrating a Signal Receiver 120 inaccordance with some embodiments. In some embodiments, Signal Receiver120 receives signals from Antenna 202. Signal Receiver 120 includesAntenna Interface 204, Receiver(s) 206 and Compensation Mechanism(s) 212(also herein called digital compensator(s)) for every frequency band ofinterest, and Digital Processor 214. Signal Receiver 120 also optionallyincludes Calibration Signal Generator 230, Clock 240, Housing 250, andCircuit Board 260.

Antenna Interface 204 receives signals from an antenna (e.g., Antenna202) and optionally from a calibration signal generator (e.g.,Calibration Signal Generator 230).

Receiver(s) 206 includes Analog Signal Processing Circuitry 208 andSampling Circuitry 210. Analog Signal Processing Circuitry 208 iscoupled to Antenna Interface 204 for processing the received signals toproduce filtered signals. In some embodiments, Analog Signal ProcessingCircuitry 208 includes various frequency, amplitude and phaseconditioning components, such as, one or more analog filters and/or oneor more gain (amplification) stages. In some embodiments, Analog SignalProcessing Circuitry 208 corresponds to or includes a low noiseamplifier. In some implementations, Analog Signal Processing Circuitry208 includes a (quadrature) demodulator to down-convert the receivedsignals to produce orthogonal baseband signals (for example, orthogonalI and Q signal components). Sampling Circuitry 210 samples the filteredsignals from Analog Signal Processing Circuitry 208 so as to producedigitized received signals. In some embodiments, circuitry for producingthe digitized received signals further includes quantization circuitryand digitization circuitry. It may be noted that in someimplementations, Signal Receiver 120 includes separate Receivers 206(and consequently, separate Analog Signal Processing Circuitry 208 andSampling Circuitry 210) for two or more frequency bands of interest.Optionally, Signal Receiver 120 includes separate Receivers 206 forevery frequency band of interest. As shown in the example in FIG. 2,Receivers 206-a (and consequently, Analog Signal Processing Circuitry208-a and Sampling Circuitry 210-a) is configured to operate at the L1frequency band (e.g., 1575.42±16 MHz; or 1559 MHz−1591 MHz), Receiver206-b (and consequently, Analog Signal Processing Circuitry 208-b andSampling Circuitry 210-b) is configured to operate at the L2 frequencyband (e.g., 1227.6±16 MHz; or 1211 MHz−1243 MHz), and Receiver 206-c(and consequently, Analog Signal Processing Circuitry 208-c and SamplingCircuitry 210-c) is configured to operate at the L5 frequency band(e.g., 1176.45±16 MHz; or 1160 MHz−1192 MHz).

Compensation Mechanism(s) 212 receives the digitized received signalsand compensates for non-uniform group delay and, in someimplementations, amplitude distortion introduced by the analog signalprocessing circuitry 208 to produce compensated digitized receivedsignals. In some embodiments, the compensation mechanism (e.g.,Compensation Mechanism 212) compensates for signal distortions in thedigitized received signals produced by the analog signal processingcircuitry in one or more predefined ranges of frequencies. In someembodiments, the signal distortions are phase distortions introduced bythe non-linear phase response of Analog Signal Processing Circuitry 208.The non-linear phase response of Analog Signal Processing Circuitry 208causes undesirable variations in group delay when processing signalsthat span a desired range of frequencies. In some embodiments, thesignal distortions include amplitude distortions introduced by anon-symmetric magnitude response of Analog Signal Processing Circuitry208. The non-symmetric magnitude response of Analog Signal ProcessingCircuitry 208 causes undesirable effects on signals that span a desiredrange of frequencies.

In some implementations, Compensation Mechanism(s) 212 is implemented ina digital signal processor, sometimes called a DSP. In some otherimplementations, Compensation Mechanism(s) 212 is implemented incircuitry, such as an FIR filter and one or more registers.Alternatively, or in addition, Compensation Mechanism(s) 212 isimplemented in software executed by a general purpose processor. It maybe noted that the term “non-uniform,” as used herein, indicates havingdifferent delays for different frequencies in a predefined range offrequencies. In some implementations, Signal Receiver 120 is configuredto include a separate Compensation Mechanism 212 for every frequencyband of interest. As shown in the example in FIG. 2, CompensationMechanism 212-a is configured to operate at the L1 frequency band (e.g.,a frequency band that includes 1559 MHz−1591 MHz), CompensationMechanism 212-b is configured to operate at the L2 frequency band (e.g.,a frequency band that includes 1211 MHz−1243 MHz), and CompensationMechanism 212-c is configured to operate at the L5 frequency band (e.g.,a frequency band that includes 1160 MHz−1192 MHz).

It should be understood that the frequency bands and frequency bandwidthdescribed (such as L1, L2, and L5 frequency bands, and correspondingbandwidth) are merely illustrative and representative; the signalreceiver and methods performed by the signal receiver described hereincan be configured to operate at frequency bands or frequencies notspecifically listed here.

Digital Processor 214 processes compensated digitized received signalsso as to produce a Result 220. In some implementations, the result(e.g., Result 220) includes a range to satellite, ranges to multiplesatellites, navigation result(s), geographical location(s), and/orsatellite time value(s). In some embodiments, Digital Processor 214 isimplemented using one or more microprocessors or other programmableprocessors. Digital Processor 214 is further described herein withreference to FIG. 3F. In some implementations, Digital Processor 214 isimplemented within or close to the baseband system; as such, DigitalProcessor 214 is configured to operate on baseband signals. In someembodiments, Digital Processor 214 optionally includes GNSS Processor216 and Microprocessor 218. GNSS Processor 216 typically includescircuitry, such as correlators, for analyzing signals received from GNSSsatellites and thereby assisting Microprocessor 218 to performnavigation functions and optionally other functions. Digital Processor214 includes and executes control instructions for controlling whenCalibration Signal Generator 230, described below, injects a calibrationsignal at Antenna Interface 204 and for controlling configuration ofCompensation Mechanism 212 (for example, through control signalsprovided by Microprocessor 218) in accordance with digitized receivedsignals received in response to the injection of the calibration signalat Antenna Interface 204.

In some embodiments, Calibration Signal Generator 230 is coupled toAntenna Interface 204, to inject a calibration signal at AntennaInterface 204.

In some embodiments, Clock 240 provides synchronized clock timingsignals to Calibration Signal Generator 230 and Sampling Circuitry 210.

In some embodiments, Antenna Interface 204, Analog Signal ProcessingCircuitry 208, Sampling Circuitry 210, Compensation Mechanism 212,Digital Processor 214 and Calibration Signal Generator 230 are allcontained within Housing 250.

In some embodiments, Antenna Interface 204, Analog Signal ProcessingCircuitry 208, Sampling Circuitry 210, Compensation Mechanism 212,Digital Processor 214 and Calibration Signal Generator 230 are mountedon a single circuit board (e.g., Circuit Board 260). Alternatively,Antenna Interface 204 is not mounted on the circuit board on which theother components are mounted. Typically, in embodiments that includeHousing 250, Circuit Board 260 is contained within Housing 250.

In some embodiments, the signal receiver (e.g., Signal Receiver 120) isa satellite signal receiver.

FIG. 3A is a block diagram illustrating an Antenna Interface 204 inaccordance with some embodiments. As shown in FIG. 3A, Antenna Interface204 includes one or more filters (e.g., Filter(s) 304-a and Filter(s)304-b) to limit the frequencies of Received Signals 302 to frequenciesof interest. Filter(s) 304-a and Filter(s) 304-b include filters withfixed or variable (e.g., tunable) properties. Antenna Interface 204 alsoincludes one or more Amplifiers 306 for amplifying or strengtheningsignals of interest. Amplifiers 306 may include one or more amplifierswith fixed or variable (e.g., tunable) properties.

FIG. 3B is a block diagram illustrating a Compensation Mechanism 212 andan optional Configuring Mechanism 320. As explained above, CompensationMechanism 212 receives digitized received signals (e.g., DigitizedReceived Signals 312) and compensates for non-uniform group delay and,in some implementations, amplitude distortion introduced by AntennaInterface 204 and Analog Signal Processing Circuitry 208 to producecompensated digitized received signals (e.g., Compensated DigitizedReceived Signals 316).

In some embodiments, Compensation Mechanism 212 is configured (forexample, using Configuring Mechanism 320) to process Digitized ReceivedSignals 312 using a finite impulse response filter or FIR filter (e.g.,Complex FIR 314) using a set of complex filter coefficients (e.g.,Complex FIR coefficients 334) to compensate for non-uniform group delayand, in some implementations, amplitude distortion introduced by atleast the analog signal processing circuitry (e.g., Analog SignalProcessing Circuitry 208).

In some embodiments, the compensation mechanism (e.g., CompensationMechanism 212) is configured (e.g., by Configuring Mechanism 320) inaccordance with signals received by the compensation mechanism inresponse to injection of the calibration signal at the antennainterface, for example by Calibration Signal Generator 230.

In some embodiments, Configuring Mechanism 320 performs a method ofconfiguring the compensation mechanism as described with reference toFIGS. 5A-5D below.

As shown in FIG. 3B, in some implementations Configuring Mechanism 320includes Coherent Sample Accumulator 322 (shown in more detail in FIG.3E), which is used to store and coherently accumulate (across multiplecalibration cycles) samples of the digitized received signals receivedin response to injection of the calibration signal, and thus outputscoherently accumulated samples. In some implementations, coherentaccumulation is performed by coherently combining samples of thedigitized received signals received in response to injection of thecalibration signal—across multiple calibration cycles—using methods suchas summing, averaging, filtering (e.g., by the use of Kalman filters orBayesian estimators) or any combination thereof. Coherent SampleAccumulator 322 may be implemented in hardware (e.g., accumulationregisters, clock dividers, etc.) or in software executed by a digitalsignal processor or general purpose microprocessor.

An FFT 324 (e.g., N-Point FFT 324-a, shown in FIG. 3E) performs acomplex Fourier Transform on the coherently accumulated (e.g., summed oraveraged) samples to produce a set of complex values for a plurality offrequency components. For example, for an N-point FFT, the output of FFT324 is, or includes, N complex values, each having a real component andan imaginary component. FFT 324 may be implemented in software, hardware(e.g., on an FFT chip), or on a digital signal processor. In someimplementations, the output of the FFT 324 is converted to produce themeasured phase response (which is called the Actual Phase Response 402in FIG. 4A) and, in some implementations, the measured magnituderesponse (which is called the Actual Magnitude Response 412 in FIG. 4Band Actual Magnitude Response 422 in FIG. 4C) of Antenna Interface 204and Analog Signal Processing Circuitry 208. The measured phase responserepresents the measured phases of the filtered signal (e.g., thedigitized received signal received in response to the injectedcalibration signal) at various frequencies present in the filteredsignal. The measured magnitude response represents the measuredmagnitude of the filtered signal (e.g., the digitized received signalreceived in response to the injected calibration signal) at variousfrequencies present in the filtered signal. In some embodiments, themeasured phase response (which is called the Actual Phase Response 402in FIG. 4A) is obtained from a polynomial fit (e.g., polynomialsmoothing) to the measured phases of the filtered signal (e.g., thedigitized received signal received in response to the injectedcalibration signal) at various frequencies. In such embodiments, themeasured phase response is represented (e.g., approximated) by apolynomial having a numerical order; the numerical order being selectedso as to eliminate undesired noise in the polynomial representation ofthe measured phases of the filtered signal, while preserving (e.g.,approximating) the effects of group delay distortions on the measuredphases of the filtered signal. In some embodiments, the polynomial isthen sampled at a plurality of frequencies (e.g., corresponding tofrequency bins of N-point FFT 324-a) to produce smoothed measured phasesof the filtered signal at the plurality of frequencies. In someembodiments, smoothed measured phases are generated (e.g., computed)from the phase values (e.g., Actual Phase Response 402) of correspondingfrequency components of the digitized received signals usinginterpolation methods (e.g., curve-fitting, polynomial interpolation,spline interpolation, Gaussian interpolation, regression-based methods,etc.). In some embodiments, the measured magnitude response (which iscalled the Actual Magnitude Response 412 in FIG. 4B and Actual MagnitudeResponse 422 in FIG. 4C) is obtained from the measured magnitudes of thefiltered signal at various frequencies by similar methods as thosedescribed above for obtaining the measured phase response.

Target Response Curve 326 (e.g., Target Response 404, shown in FIG. 4Aand/or Target Magnitude Response 414, shown in FIG. 4B) corresponds to adesired set of frequency-dependent phase values and/orfrequency-dependent magnitude values stored previously or (optionally)generated from Actual Phase Response 402 and/or Actual MagnitudeResponse 412, respectively. In some implementations, the target phasevalues (e.g., Target Response Curve 326 or Target Response 404) aregenerated (e.g., computed) from a straight line fit (e.g., Straight Line404-a) to the phase values (e.g., Actual Phase Response 402) ofcorresponding frequency components of the digitized received signals. Insome embodiments, the target phase values (e.g., Target Response Curve326 or Target Response 404) are generated (e.g., computed) from thephase values (e.g., Actual Phase Response 402) of correspondingfrequency components of the digitized received signals usinginterpolation methods (e.g., curve-fitting, polynomial interpolation,spline interpolation, Gaussian interpolation, regression-based methods,etc.). Alternatively, the target phase values are fixed valuesdetermined in advance, independent of the measured phase response (e.g.,Actual Phase Response 402). In some embodiments, the target magnitudevalues are obtained from magnitude values (e.g., Actual MagnitudeResponse 412, shown in FIG. 2C) of corresponding frequency components ofthe digitized received signals by similar methods as those describedabove for obtaining the target phase values. Alternatively, the targetmagnitude values are fixed values determined in advance, independent ofthe measured magnitude response (e.g., Actual Magnitude Response 412).

In some embodiments, residual phase differences (e.g., Residuals 328 orPhase Residuals 406) are computed by subtracting the phase values (e.g.,Actual Phase Response 402) of corresponding frequency components of thedigitized received signals from the target phase values (e.g., TargetResponse Curve 326 or Target Response 404). In some embodiments,residual magnitude differences (e.g., Residuals 328 or MagnitudeResiduals 416) are computed by determining ratios of the extractedmagnitude values (e.g., Actual Magnitude Response 412) of correspondingfrequency components of the digitized received signals with the targetmagnitude response information (e.g., Target Response Curve 326 orTarget Response 404).

An inverse Fast Fourier Transform (e.g., iFFT 330) is performed on arepresentation of the residual phase differences (e.g., Residuals 328 orPhase Residuals 406) and, in some implementations, magnitude responseresiduals (e.g., Magnitude Residuals 416) to produce an initial set ofcomplex values corresponding to FIR coefficients. It may be noted thatiFFT 330 may be implemented using software executed by a digital signalprocessor or general purpose microprocessor, or hardware (e.g., on anFFT circuit). In some implementations, FFT 324 and iFFT 330 areimplemented using the same FFT circuit, or the same program(s) executedby a digital signal processor or general purpose microprocessor.

Optionally, a windowing operation (Windowing 332) is performed oninitial set of complex values obtained from iFFT 330, which conditionsthe results produced by iFFT 330 by reducing the magnitude of the edgecomponents of the results of iFFT 330 by multiplying the results of iFFT330 by a windowing function (e.g., a Tukey window, or even morespecifically a Tukey 0.5 window). In some implementations, Windowing 332is implemented using software executed by a digital signal processor orgeneral purpose microprocessor, or hardware. “Edge components” ofresults of iFFT 330 are typically components not in a predefined centralportion of the results. In one example, in an implementation thatproduces 128 complex FIR coefficients as the result of iFFT 330,sequentially numbered from 1 to 128, the center components include atleast components 32 to 96, and the edge components include components 1to 31 and 97 to 128 or a subset of components 1 to 31 and 97 to 128.

In various embodiments, any of a number of windowing functions are usedto window the set of complex values obtained from iFFT 330 to producethe complex FIR coefficients, such as windowing functions described inG. Heinzel, A. Rudiger, R. Schilling, “Spectrum and spectral densityestimation by the Discrete Fourier transform (DFT), including acomprehensive list of window functions and some new flat-top windows,”Internal Report, Max-Planck-Institut fur Gravitationsphysik, Hannover,2002; and F J Harris, “On the Use of Windows for Harmonic Analysis withthe Discrete Fourier Transform,” Proceedings of IEEE, vol. 66, pp.51-83, 1978.

The method performed by Configuring Mechanism 320 is explained furtherin relation to FIGS. 5A-5D.

FIG. 3C is a block diagram illustrating a Finite Impulse Response Filter314 as used in Compensation Mechanism 212. As shown in FIG. 3C, FIRFilter 352 (e.g., Complex FIR 314, shown in FIG. 3B) uses Complex FilterCoefficients 354 (e.g., Complex FIR coefficients 334, shown in FIG. 3B).In some embodiments, Complex Filter Coefficients 354 for FIR Filter 352are stored in a Coefficients Register 356. Optionally, CoefficientsRegister 356 is implemented internally within FIR Filter 352. Asdescribed above, and also below with respect to FIGS. 5A-5D, in someimplementations, Complex Filter Coefficients 354 are generated (e.g., byConfiguring Mechanism 320) by processing calibration signals injected atantenna interface 204 during one or more calibration periods.

Alternatively, in some implementations, the filter coefficients storedin Coefficient Register 356 are obtained from Filter CoefficientsLibrary 358. Filter Coefficients Library 358 stores multiple sets offilter coefficients as shown in FIG. 3C. A multiplexer 359 is used toselect a set of filter coefficients from the Filter Coefficients Library358, for example, based on operating conditions (e.g., temperature) inor near the signal receiver 120. In these implementations, FIR Filter352 filters digitized received signals using the selected set of set offilter coefficients from the Filter Coefficients Library 358. In someimplementations, the multiple sets of filter coefficients stored inFilter Coefficients Library 358 are filter coefficients generated at aplurality of different operating conditions (e.g., a plurality ofmeasured temperatures). The process of generating the multiple sets offilter coefficients in Filter Coefficients Library 358 is sometimescalled factory calibration, as the coefficients may be generated “at thefactory” during or shortly after manufacturing the signal receiver. Insome embodiments, filter coefficients generated through factorycalibration are obtained using an external calibration signal (i.e., acalibration signal generated external to the receiver), and in suchembodiments the signal receiver need not include Calibration SignalGenerator 230.

FIG. 3D is a block diagram illustrating a Calibration Signal Generator230. As shown in FIG. 2, Calibration Signal Generator 230 is coupled tothe Antenna Interface 204, to inject a calibration signal at AntennaInterface 204.

In some embodiments, the calibration signal produced by CalibrationSignal Generator 230 includes a time domain signal corresponding toorthogonal frequency components in a predefined range of frequencies. Insuch embodiments, the duration (or period) of the time domain signal isequal to, or an integral multiple of, the inverse of the frequencyspacing between the orthogonal frequency components. In someembodiments, the calibration signal includes a step carrier signal. Insome embodiments, the calibration signal includes a swept carriersignal. In some embodiments, the calibration signal includes evenlyspaced frequency components, such as frequency components from X1 MHz toX2 MHz in Y MHz increments (e.g., 1 MHz increments), where X1 and X2 MHzcorrespond to the frequency span or bandwidth of the received signal(received at Antenna Interface 204), sometimes called the passband ofinterest, and Y MHz defines the (typically uniform) spacing (i.e.,frequency interval) between consecutive frequency components. In suchembodiments, some implementations provide a duration (or period) of thecalibration signal equal to, or an integral multiple of, the inverse ofthe frequency interval (i.e., spacing—e.g., Y MHz) between theconsecutive frequency components.

In the example implementation shown in FIG. 3D, the calibration signalis a multi-tone (sometimes called a multi-carrier) Calibration Signal368 that is an OFDM (Orthogonal Frequency-Division Multiplex) signal, oris similar to an OFDM signal except that no data is generated orconveyed by the Calibration Signal. The calibration signal correspondsto a multi-tone signal that spans the passband of interest. Themulti-tone signal is generated, for example, by a method employed byOFDM modulators. In some embodiments, a control signal (e.g., Enable,Disable, Timing reference), such as Control Signal 360 is used tocontrol the timing and/or duration of injection of the calibrationsignal. In some embodiments, Digital Processor 214 controls, at least inpart through Control Signal 360, Calibration Signal Generator 230. Forexample, in some implementations, Digital Processor 214 determines thetiming and/or duration of injection of the calibration signal, includingthe interval between injection instances and the duty cycle associatedwith the calibration signal. As explained above, in someimplementations, the timing and/or duration of injection of thecalibration signal is equal to, or an integral multiple of, the inverseof the frequency spacing between consecutive (and orthogonal) frequencycomponents that constitute Calibration Signal 368.

Control Signal 360 controls Clock Generator 361. In some embodiments,Clock Generator 361 provides a timing reference to Quadrature Modulator366 and to a Store 362 that stores a quadrature time series forgenerating orthogonal tones, also called multi-tone time-domain digitalsignals. In some implementations, the multi-tone time-domain digitalsignals are read from Store 362 and converted into analog signals by oneor more Digital-to-Analog converter(s) (e.g., DAC 364-a and DAC 364-b),which provide the resulting analog signals to Quadrature Modulator 366.Quadrature Modulator 366 modulates the analog signals onto a carriersignal to produce Calibration Signal 368. From another view, Store 362stores a time-domain representation of a target set of multi-tonesignals, which are converted into an analog signal by one or more DAC's364 and then modulated onto a carrier signal to produce the CalibrationSignal 368.

In some embodiments, the calibration signal generator (e.g., CalibrationSignal Generator 230) injects the calibration signal at AntennaInterface 204 at a duty cycle less than a predefined fraction (e.g., ata duty cycle less than one percent). In some embodiments, thecalibration signal is injected at a low duty cycle (e.g., a duty cycleof less than 10 percent, 1 one percent, 0.1 percent or 0.02 percent). Inone example, calibration signals are added for an insertion period(sometimes also called a calibration period) once per duty period (e.g.,a period of time between 20 milliseconds and 2 seconds). In someembodiments, the insertion period of the calibration signal has aduration of no less than one “symbol period” of the Calibration Signal368 (e.g., the period of time required to maintain orthogonality of allthe frequency components in the calibration signal). Typically, theinsertion period of the calibration signal has a duration of two or moresymbol periods. In some embodiments, a very low duty cycle calibrationsignal minimally impacts the GNSS signal carrier to noise power densityratio (CNo).

In some embodiments, the calibration signal generator injects thecalibration signal at the antenna interface as a pseudorandom or randomsignal, to reduce any detrimental impact on the various GNSS signalstructures.

In some embodiments, the calibration signal has an amplitude at least apredefined amount (e.g., 40 dB) greater than an amplitude of thereceived signals from the antenna. In some embodiments, the averagepower of the calibration signal is less than the broadband noise floorfor the signal receiver. In some implementations, the amplitude andduration of the calibration signal is determined in accordance with acriterion that the average power of the calibration signal is maintainedlower than a value which would impact gain settings of a gain controlcircuit (e.g., an Automatic Gain Control circuit) of the signalreceiver. In some embodiments, the gain control circuit corresponds tothe AGC circuit of the analog signal processing circuitry of the signalreceiver. In some implementations, the calibration signal is injectedafter fixed or variable intervals of time, such as 10 milliseconds, 10seconds, 10 minutes, 20 minutes, etc. Maintaining intervals of timebetween the injection instances of the calibration signal facilitateskeeping the average calibration signal power lower than a value(corresponding to the broadband noise floor of the signal receiver) thatwould cause the gain control circuit (e.g., the AGC circuit) to changeits gain settings. In alternative embodiments, the AGC circuit may beswitched off (or prevented from changing its state) during injection ofthe calibration signal.

In some embodiments, the calibration signal generator (e.g., CalibrationSignal Generator 230) is controlled, at least in part, by the digitalprocessor (e.g., Digital Processor 214) of the signal receiver 120. Forexample, the digital processor would determine the timing and/orduration of injection and potentially the interval between calibrationsignal injection instances. Furthermore, in some implementations havingtwo or more receivers 206 (see FIG. 2), Calibration Signal Generator230, under control of Digital Processor 214, injects differentcalibration signals for each receiver 206, with the calibration signalfor each receiver 206 having a distinct set of multi-tone time-domaindigital signals in Store 362, a respective duty cycle, and distincttiming from the calibration signal injected for the other receivers 206.

FIG. 3E is a block diagram illustrating Accumulated FFT 370, accordingto some embodiments. In some embodiments, Accumulated FFT 370 includestwo or more registers (for example, N-Stage Shift Register 322-a andN-Stage Accumulator 322-b), each register to store and coherentlyaccumulate (for example, using methods described elsewhere in thisdocument) samples from a respective orthogonal baseband signal of two ormore orthogonal baseband signals generated from the received signals(e.g., Digitized Received Signals 312). A coherent accumulation (e.g.,sum or average) of the samples is calculated by performing a coherent(e.g., time-synchronized) summation of samples over M calibration cyclesand optionally then by dividing the resulting values by the number(e.g., M) of calibration cycles (e.g., implemented using a shiftregister) to produce a coherent sum (and optionally, a coherent average)of samples across the M calibration cycles. In some embodiments, acoherent accumulation (e.g., an average or summation) of the samples iscomputed for each distinct frequency band of interest. In someimplementations, the coherent accumulation across calibration cyclesallows for better calibration accuracy.

To this end, Accumulated FFT 370 includes Coherent Sample Accumulator322 and FFT 324 (as previously described with reference to CalibrationMechanism 320, in FIG. 3B). As shown in FIG. 3E, Accumulated FFT 370receives Digitized RF Samples 372 (for example, obtained from DigitizedReceived Signals 312), Sample Clock 374 and Symbol Time Enable (dutycycle) 376. Accumulated FFT 370 processes Digitized RF Samples 372 toproduce N Complex Frequency Domain Samples over M-Symbols 378, asdescribed below.

Coherent Sample Accumulator 322 is used to store and coherentlyaccumulate Digitized RF samples 372 (e.g., Digitized Received Signals312) received by the compensation mechanism (e.g., CompensationMechanism 212) in response to injection of the calibration signal at theantenna interface (for example by Calibration Signal Generator 230).Accordingly, Digitized RF samples 372 are shifted and stored using anN-Stage Shift Register 322-a and coherently accumulated (e.g., combinedby summation or filtering approaches), and optionally, averaged usingN-Stage Accumulator 322-b.

FFT 324 (e.g., N-point FFT (over M symbols) 324-a) performs a complexFourier Transform on the coherently accumulated samples, for instanceusing a Fast Fourier Transform implementation.

A timing reference for the signal samples (e.g., Digitized RF Samples372) is provided, in some implementations, using Sample Clock 374 (forexample, obtained from or synchronized with Clock 240). Another timingreference, Symbol Time Enable (duty cycle) 376, enables operation of theCoherent Sample Accumulator 322 and FFT 324 at times during orcorresponding to injection of the calibration signal. In someembodiments, clock dividers, Divide by N 374-a and Divide by M 374-b,divide the frequency of Sample Clock 374 by predefined values (e.g., Nand M, respectively) to produce clock timing signals with reducedfrequencies, as required by N-Stage Accumulator 322-b and N-point FFT(over M symbols) 324-a, respectively.

FIG. 3F is a block diagram illustrating a Digital Processor 214,according to some embodiments. Digital Processor 214 can be used in aGlobal Navigation Satellite System (GNSS) application shown in FIG. 1.Digital Processor 214 typically includes one or more processing units(CPU's) 602, one or more network or other communications interfaces 604,memory 610, optional supplemental receivers 670 (e.g., one or morereceivers to receive navigation aiding signals, such as wide-areadifferential satellite positioning system signals), and one or morecommunication buses 609 for interconnecting these components. Thecommunication buses 609 may include circuitry (sometimes called achipset) that interconnects and controls communications between systemcomponents. Digital Processor 214 is coupled to a satellite positioningsystem receiver 674 (e.g., signal receiver 120 excluding DigitalProcessor 214) to receive digitized (and typically compensated)satellite signals for processing. Digital Processor 214 optionallyincludes a user interface 605 that includes a display device 606 andinput devices 608 (e.g., keyboard, mouse, touch screen, keypads, etc.).Memory 610 includes high-speed random access memory, such as DRAM, SRAM,DDR RAM or other random access solid state memory devices; andoptionally (but typically) includes non-volatile memory, such as one ormore magnetic disk storage devices, optical disk storage devices, flashmemory devices, or other non-volatile solid state storage devices.Memory 610 optionally includes one or more storage devices remotelylocated from CPU(s) 602. Memory 610, or alternately the non-volatilememory device(s) within memory 610, comprises a non-transitory computerreadable storage medium. In some embodiments, memory 610 or the computerreadable storage medium of memory 610 stores the following programs,modules and data structures, or a subset thereof:

-   -   an operating system 612 that includes procedures for handling        various basic system services and for performing hardware        dependent tasks;    -   a communication module 614 that is used for connecting Digital        Processor 214 to other computers, wide-area differential        satellite positioning systems, local positioning systems, etc.,        via the one or more communication interfaces 604 (wired or        wireless) and one or more communication networks, such as the        Internet, other wide area networks, local area networks,        metropolitan area networks, and so on;    -   optionally, a user interface module 616 that receives commands        from the user via one or more input devices 608 of user        interface 605, generates user interface objects in display        device 606, and/or displays maps, coordinates, routes, etc.,        related to the position of Signal Receiver 120;    -   a navigation module 618 that produces navigation results (e.g.,        a range to satellite, ranges to multiple satellites, geographic        positioning, location information, and/or a time value) by        processing digitized satellite signals received from satellite        positioning system receiver 674;    -   a calibration module 620 that controls when calibration signal        generator 230 (FIG. 2) injects a calibration signal (e.g., the        timing and/or duration of injection of the calibration signal)        at the antenna interface 204 and (optionally) for controlling        configuration of the compensation mechanism(s) 212; and    -   optionally, stored calibration sets 622 that include multiple        sets of filter coefficients (stored, for example, in a Filter        Coefficients Library 358); optionally, stored calibration sets        622 correspond to previously performed calibrations (e.g.,        factor calibrations) for different operating conditions (e.g.,        for different temperature conditions).

Each of the above identified elements may be stored in one or more ofthe previously mentioned memory devices, and corresponds to a set ofinstructions for performing a function described above. The set ofinstructions can be executed by one or more processors (e.g., the CPUs602). The above identified modules or programs (i.e., sets ofinstructions) need not be implemented as separate software programs,procedures or modules, and thus various subsets of these modules may becombined or otherwise re-arranged in various embodiments. In someembodiments, memory 610 may store a subset of the modules and datastructures identified above. Furthermore, memory 610 may storeadditional modules and data structures not described above.

Although FIG. 3F shows a “Digital Processor,” FIG. 3F is intended moreas functional description of the various features which may be presentin a mobile satellite navigation receiver than as a structural schematicof the embodiments described herein. In practice, and as recognized bythose of ordinary skill in the art, items shown separately could becombined and some items could be separated.

FIG. 4A is a flow diagram illustrating the Configuring Mechanism 320described previously in relation to FIG. 3B. As explained previouslywith respect to FIG. 3B, the phase values of corresponding frequencycomponents of the digitized received signals (e.g., Digitized ReceivedSignals 312) represent the measured phases (e.g., Actual Phase Response402) of the filtered signal at various frequencies present in thecalibration signal. As explained above, in some embodiments, a smoothedversion of the measured phase response (Actual Phase Response 402, FIG.4A) is obtained from a polynomial fit (e.g., polynomial smoothing) tothe measured phases of the filtered signal (e.g., the digitized receivedsignal received in response to the injected calibration signal) atvarious frequencies. In such embodiments, the smoothed measured phaseresponse is represented (e.g., approximated) by a polynomial of anumerical order selected to eliminate undesired noise in the polynomialrepresentation of the measured phases of the filtered signal, whilesubstantially preserving the effects of group delay distortions on themeasured phases of the filtered signal.

In some embodiments, target phase values are previously stored. Inalternative embodiments, the target phase values (e.g., Target ResponseCurve 326 or Target Response 404) are computed from the measured phases(e.g., Actual Phase Response 402) of the filtered signal at variousfrequencies, for example, using a straight line fit (e.g., Straight Line404-a) to the phase values of corresponding frequency components of thedigitized received signals.

In some embodiments, the residual phase differences (e.g., Residuals 328or Phase Residuals 406) are computed by subtracting the phase values ofcorresponding frequency components of the digitized received signalsfrom the target phase values. As shown in FIG. 4A, Phase Residuals 406are computed by subtracting Actual Phase Response 402 from TargetResponse 404.

FIGS. 4B-4C are flow diagrams illustrating operation of the ConfiguringMechanism 320 described previously in relation to FIG. 3B. As explainedpreviously with respect to FIG. 3B, the magnitude values ofcorresponding frequency components of the digitized received signals(e.g., Digitized Received Signals 312) represent the measured magnitudes(e.g., Actual Magnitude Response 412 shown in FIG. 4B and ActualMagnitude Response 422 shown in FIG. 4C) of the filtered signal atvarious frequencies present in the calibration signal.

In some embodiments, target magnitude values are previously stored. Inalternative embodiments, the target magnitude values (e.g., TargetResponse Curve 326 or Target Magnitude Response 414 shown in FIG. 4B orTarget Magnitude Response 424 shown in FIG. 4C) are computed from themeasured magnitudes (e.g., Actual Magnitude Response 412) of thefiltered signal at various frequencies, for example, by finding a bestfit flat magnitude response or a best fit symmetric magnitude response.

In some embodiments, the magnitude response residuals (e.g., Residuals328 or Magnitude Residuals 416 shown in FIG. 4B or Magnitude Residuals426 shown in FIG. 4C) are computed by determining amplitude ratiosbetween one or more target amplitude values and amplitude values ofcorresponding frequency components of the digitized received signals. Asshown in FIG. 4B and FIG. 4C, Magnitude Residuals 406 and MagnitudeResiduals 416 are computed by dividing Target Magnitude Response 414 (or424, FIG. 4C) by Actual Magnitude Response 412 (or 422, FIG. 4C).

In FIGS. 4A-4C, the complex filter coefficients (e.g., Complex FIRcoefficients 334 or FIR Coefficients 408, FIR Coefficients 418, or FIRCoefficients 428) of the FIR filter (e.g., Complex FIR 314) correspondto residual phase differences (e.g., Residuals 328 or Phase Residuals406) between target phase values (e.g., Target Response Curve 326 orTarget Response 404) and phase values (e.g., Actual Phase Response 402)of corresponding frequency components of the digitized received signals(e.g., Digitized Received Signals 312), and residual magnitude ratios(e.g., Residuals 328 or Magnitude Residuals 416 or Magnitude Residuals426) between target magnitude values (e.g., Target Response Curve 326 orTarget Magnitude Response 414 or Target Magnitude Response 424) andmagnitude values (e.g., Actual Magnitude Response 412 or ActualMagnitude Response 422) of corresponding frequency components of thedigitized received signals (e.g., Digitized Received Signals 312). Aninverse FFT (e.g., iFFT 330) is performed on the residual phasedifferences (e.g., Residuals 328 or Phase Residuals 406) and magnituderesponse residuals (e.g., Magnitude Residuals 416 or Magnitude Residuals426), which results in the complex filter coefficients (e.g., ComplexFIR coefficients 334 or FIR Coefficients 408) of the FIR filter (e.g.,Complex FIR 314). Alternatively, the iFFT produces an initial set ofcomplex filter coefficients, which are then multiplied by a windowingfunction (e.g., a Tukey window) to produce the complex filtercoefficients used by an FIR filter in the Compensation Mechanism 212 tofilter digitized received signals to produce compensated digitizedreceived signals.

FIGS. 5A-5C and FIG. 5D include a flowchart representing method 500 andmethod 570 respectively for signal compensation performed at a signalreceiver (e.g., Signal Receiver 120), according to certain embodimentsof the invention. Method 500 and method 570 may be governed byinstructions that are stored in a computer readable storage medium andthat are executed by one or more processors of one or more servers. Eachof the operations shown in FIGS. 5A-5D may correspond to instructionsstored in a computer memory or computer readable storage medium. Thecomputer readable storage medium may include a magnetic or optical diskstorage device, solid state storage devices such as Flash memory, orother non-volatile memory device or devices. The computer readableinstructions stored on the computer readable storage medium are insource code, assembly language code, object code, or other instructionformat that is interpreted by one or more processors.

According to method 500 shown in FIGS. 5A-5C, a signal receiver (e.g.,Signal Receiver 120) receives (510) signals from an antenna (e.g.,Antenna 202). The signal receiver processes (512) the received signalswith analog signal processing circuitry (e.g., Analog Signal ProcessingCircuitry 208) to produce filtered signals. The signal receiver samples(514) the filtered signals with sampling circuitry (e.g., SamplingCircuitry 210) to produce digitized received signals (e.g., DigitizedReceived Signals 312).

The signal receiver compensates (515) the digitized received signals,with a compensation mechanism (e.g., Compensation Mechanism 212), fornon-uniform group delay, and optionally amplitude distortion as well,introduced by the analog signal processing circuitry to producecompensated digitized received signals (e.g., Compensated DigitizedReceived Signals 316). In some embodiments, compensating the digitizedreceived signals includes (516) compensating for signal distortions in apredefined range of frequencies. For example, if the signal receiver isa GPS signal receiver, the predefined range of frequencies optionallyincludes one or more of: (L1, E1) 1559 MHz−1591 MHz, 1559 MHz to 1610MHz, (L2, L5) 1211 MHz−1243 MHz, and 1160 MHz−1192 MHz. In someembodiments, the amplitude distortion comprises (517) deviation of amagnitude response of the analog signal processing circuitry from auniform magnitude response across a predefined frequency range or amagnitude response curve that is symmetric with respect to a predefinedcenter frequency of the predefined frequency range. For example, asshown in FIGS. 4B-4C, target magnitude response curve (e.g., TargetMagnitude Response 414 and Target Magnitude Response 424) are symmetricwith respect to a predefined center frequency of the predefinedfrequency range.

The signal receiver processes (518) the compensated digitized receivedsignals so as to produce a result (e.g., Result 220). In someimplementations, the result includes (519) a navigation result. Forexample, the result includes a range to satellite, ranges to multiplesatellites, navigation result(s), geographical location(s), and/orsatellite time value(s).

In some embodiments, the signal receiver configures (520) thecompensation mechanism to process the digitized received signals using afinite impulse response filter (FIR filter), such as Complex FIR 314(FIG. 3B), with complex filter coefficients (e.g., Complex FIRcoefficients 334 shown in FIG. 3B) to compensate for non-uniform groupdelay, and optionally amplitude distortion as well, introduced by atleast the analog signal processing circuitry. In some embodiments, theset of complex filter coefficients of the FIR filter correspond toresidual phase differences between target phase values and phase valuesof corresponding frequency components of the digitized received signals.Optionally, the set of complex filter coefficients of the FIR filteralso correspond to amplitude ratios between one or more target amplitudevalues and amplitude values of corresponding frequency components of thedigitized received signals. For example, as shown in and explained withreference to FIG. 4A-4C, FIR Coefficients 408 are obtained from aninverse transform (iFFT 330) of Phase Residuals 406 and MagnitudeResiduals 416 (or Magnitude Residuals 426). Phase Residuals 406 are thedifferences between (i.e., obtained from subtracting) Target Response404 and Actual Phase Response 402. Magnitude Residuals 416 are theratios between (i.e., obtained from dividing) Target Magnitude Response414 and Actual Magnitude Response 412. In some embodiments, SignalReceiver 120 performs additional steps for configuring (524)Compensation Mechanism 212 as described in steps 526-550 describedbelow.

The signal receiver injects (526) a calibration signal at the antennainterface (e.g., Antenna Interface 204) of the signal receiver using acalibration signal generator (e.g., Calibration Signal Generator 230)coupled to the antenna interface. In some embodiments, the calibrationsignal generator injects (528) the calibration signal at the antennainterface at a duty cycle of less than a predefined fraction (e.g., onepercent). In some embodiments, the calibration signal includes (530) atime domain signal corresponding to orthogonal frequency components in apredefined range of frequencies. In some embodiments, the calibrationsignal includes (532) a step carrier signal. In some embodiments, thecalibration signal includes (534) a swept carrier signal. In someembodiments, the calibration signal has (536) an amplitude at least apredefined amount (e.g., 40 dB) greater than an amplitude of thereceived signals from the signal receiver's antenna (e.g., Antenna 202).In some implementations, the amplitude and duration of the calibrationsignal is determined (538) in accordance with a criterion that theaverage power of the calibration signal is maintained lower than a valuewhich would impact gain settings of a gain control circuit of the signalreceiver. Operation of the calibration signal generator is furtherdescribed with reference to FIG. 3D above.

In some embodiments, the signal receiver provides (540) synchronizedclock timing signals from a clock (e.g., Clock 240), to the signalreceiver's calibration signal generator and sampling circuitry.

In some implementations, Signal Receiver 120 configures (542)Compensation Mechanism 212 in accordance with signals received byCompensation Mechanism 212 in response to injection of the calibrationsignal at Antenna Interface 204. In some embodiments, configuringCompensation Mechanism 212 includes (543) coherently accumulatingdigitized received signals corresponding to the injected calibrationsignals. For example, as shown in FIG. 3E, Coherent Sample Accumulator322 (including two or more registers) is used to coherently accumulatedigitized received signals corresponding to the injected calibrationsignals.

In some embodiments, Signal Receiver 120 stores (544) controlinstructions at Digital Processor 214. In some implementations, controlinstructions include (546) instructions for controlling when CalibrationSignal Generator 230 injects the calibration signal at Antenna Interface204. In some implementations, control instructions include (548)instructions for controlling configuration of Compensation Mechanism 212in accordance with the digitized received signals received in responseto the injection of the calibration signal at Antenna Interface 204.

In some embodiments, Signal Receiver 120 configures (550) CompensationMechanism 212 by performing additional, or alternative, steps 552-564described next, for example using Configuring Mechanism 320 (shown anddescribed above with reference to FIG. 3B).

In some embodiments, Signal Receiver 120 transforms (552) the digitizedreceived signals, received in response to injection of the calibrationsignal, from time-domain to frequency-domain to produce a complex-valuedfrequency-domain representation of the digitized received signals. Itmay be noted that a real-valued representation is a special case of acomplex-valued representation. In some implementations, thetransformation from time-domain to frequency-domain is a DiscreteFourier Transform implemented using, for example, a Fast FourierTransform (FFT) implementation. As described in relation to the exampleembodiment in FIGS. 3B and 3E, an FFT 324 is be used to produce NComplex Frequency Domain Samples over M-Symbols 378.

In some embodiments, Signal Receiver 120 extracts (554) magnitude (e.g.,Actual Magnitude Response 412, FIG. 4B) and phase (e.g., Actual PhaseResponse 402, FIG. 4A) values from the complex-valued frequency-domainrepresentation of the digitized received signals. For example, for acomplex number z=x+jy; where x is a real component and y is an imaginarycomponent, the magnitude (r) and phase (φ) of complex number z areobtained as:

${r = {{z} = \sqrt{x^{2} + y^{2}}}},{and}$$\phi = {{\arg (z)} = \left\{ \begin{matrix}{\arctan \left( \frac{y}{x} \right)} & {{{if}\mspace{14mu} x} > 0} \\{{\arctan \left( \frac{y}{x} \right)} + \pi} & {{{if}\mspace{14mu} x} < {0\mspace{14mu} {and}\mspace{14mu} y} \geq 0} \\{{\arctan \left( \frac{y}{x} \right)} - \pi} & {{{if}\mspace{14mu} x} < {0\mspace{14mu} {and}\mspace{14mu} y} < 0} \\\frac{\pi}{2} & {{{if}\mspace{14mu} x} = {{0\mspace{14mu} {and}\mspace{14mu} y} > 0}} \\{- \frac{\pi}{2}} & {{{if}\mspace{14mu} x} = {{0\mspace{14mu} {and}\mspace{14mu} y} < 0}} \\{indeterminate} & {{{if}\mspace{14mu} x} = {{0\mspace{14mu} {and}\mspace{14mu} y} = 0.}}\end{matrix} \right.}$

In some embodiments, if the total phase change (or phase shift) over thefrequency span or bandwidth of the digitized received signals exceeds 2πradians, resulting discontinuities (e.g., due to phase-wrapping) in thephase (e.g., Actual Phase Response 402, FIG. 4A) of the digitizedreceived signals are eliminated, for example by methods such as “phaseunwrapping” (e.g., by the addition or subtraction of integer multiplesof 2π radians). As a result, the phase (e.g., Actual Phase Response 402,FIG. 4A) of the digitized received signals is converted to a continuousfunction of frequency by eliminating discontinuities introduced, forexample, by phase-wrapping.

In some implementations, Signal Receiver 120 obtains (556) targetfrequency-dependent phase information and target magnitude responseinformation. For example, target frequency-dependent phase information(Target Response Curve 326 in FIG. 3B or Target Response 404 in FIG. 4A)corresponds to a desired set of frequency-dependent phase values storedpreviously or generated from phase values (e.g., Actual Phase Response402, FIG. 4A) of corresponding frequency components. In someembodiments, the target (also referred to herein as “desired”)frequency-dependent phase information is a polynomial (for example,linear) relationship between phase and frequency. A polynomialrelationship between phase and frequency is obtained, for example, usinga polynomial fit (e.g., a straight line fit such as Straight Line 404-ashown in FIG. 4A) to the (actual) extracted phase information (e.g.,Actual Phase Response 402, FIG. 4A) or by using an arbitrary polynomial(for example, a straight line of known slope). Thus, it will beunderstood that the target frequency-dependent phase information isobtained either by generating this information using curve fitting (orthe like) on phase information extracted during calibration, or byretrieving predefined information, such as a “target” polynomial orstraight line. In some implementations, target magnitude responseinformation (Target Response Curve 326 in FIG. 3B or Target MagnitudeResponse 414 in FIG. 4B) corresponds to a desired set offrequency-dependent magnitude values stored previously or generated frommagnitude values (e.g., Actual Magnitude Response 412, FIG. 4B) ofcorresponding frequency components. In some embodiments, the target(also referred to herein as “desired”) magnitude response information isa polynomial (for example, symmetric) relationship between phase andfrequency.

In some embodiments, Signal Receiver 120 computes (558) phase residualsby subtracting the extracted phase values from the targetfrequency-dependent phase information. For example, as shown in FIG. 4A,Phase Residuals 406 are computed by subtracting Actual Phase Response402 from Target Response 404. In some embodiments, Signal Receiver 120computes (559) magnitude response residuals by determining ratios of theextracted magnitude values with the target magnitude responseinformation. For example, as shown in FIG. 4B, Magnitude Residuals 416are computed by dividing Actual Magnitude Response 412 (as the dividend)by Target Magnitude Response 414 (as the divisor).

In some embodiments, Signal Receiver 120 generates (560) a set ofcomplex values from the computed phase residuals and magnitude responseresiduals. For example, if a computed phase residual is ‘0’ and thecomputed magnitude response residual is ‘R’ for a given frequency, thenthe complex value generated for that frequency corresponding tomagnitude ‘R’ and phase residual ‘A’ would be of the form R×(cos θ+j sinθ).

In some implementations, Signal Receiver 120 transforms (562) the set ofcomplex values (e.g., complex filter response) from frequency-domain totime-domain to produce complex-valued time-domain filter coefficients(e.g., FIR Coefficients 408, FIG. 4A) corresponding to a finite impulseresponse filter (e.g., Complex FIR 314, FIG. 3B). In some embodiments,the transformation from frequency-domain to time-domain is an InverseDiscrete Fourier Transform, implemented, for example, through an inverseFast Fourier Transform (iFFT) implementation (e.g., iFFT 330, FIG. 3B).

In some implementations Signal Receiver 120 multiplies (564) initialcomplex-valued time-domain filter coefficients with a windowing function(e.g., a Tukey window) to produce the complex-valued time-domain filtercoefficients. In other words, the step of transforming includesmultiplying an initial set of complex-valued time-domain filtercoefficients by a windowing function (e.g., Windowing 332, FIG. 3B) toproduce the complex-valued time-domain filter coefficients (e.g., FIRCoefficients 408, FIG. 4A) corresponding to a finite impulse responsefilter (e.g., Complex FIR 314, FIG. 3B). The resulting coefficients areused by the FIR filter during normal operation to compensate for groupdelay distortions at the signal receiver.

According to method 570 shown in FIG. 5D, a signal receiver (forexample, but not limited to Signal Receiver 120) receives (572) signals.The signal receiver processes (574) the received signals at the signalreceiver to produce digitized received signals.

The signal receiver configures (576) a compensation mechanism (forexample, but not limited to Compensation Mechanism 212) at the signalreceiver in accordance with digital signals received by the compensationmechanism in response to injection of a calibration signal at the signalreceiver by a calibration signal generator (for example, but not limitedto Calibration Signal Generator 230). The configuring includes (578)configuring the compensation mechanism to compensate for non-uniformgroup delay, and optionally amplitude distortion as well, introduced byanalog signal processing circuitry of the signal receiver. In someembodiments, the amplitude distortion comprises (579) deviation of amagnitude response of the analog signal processing circuitry from auniform magnitude response across a predefined frequency range or amagnitude response curve that is symmetric with respect to a predefinedcenter frequency of the predefined frequency range.

For example, as shown in FIGS. 4B-4C, target magnitude response curve(e.g., Target Magnitude Response 414 and Target Magnitude Response 424)are symmetric with respect to a predefined center frequency of thepredefined frequency range. In some embodiments, configuring includes(580) coherently accumulating digitized received signals correspondingto the injected calibration signals. In some embodiments, the signalreceiver configures (582) the compensation mechanism by performingadditional steps (e.g., all or a subset of steps 552-564, FIG. 5C)described above with regard to method 500. In some implementations, thestep (576) of configuring the compensation mechanism is performed atvarious instances in time (e.g., intermittently and/or periodically),for example based on control signals provided by a digital processor atthe signal receiver.

The signal receiver furthermore compensates (583) the digitized receivedsignals using the compensation mechanism to produce compensated signals.In some embodiments, compensating the digitized received signalsincludes (584) compensating for signal distortions in a predefined rangeof frequencies that includes (L1, E1) 1559 MHz−1591 MHz, or 1559 MHz to1610 MHz, or (L2, L5) 1211 MHz−1243 MHz, or 1160 MHz−1192 MHz.

The signal receiver processes (586) the compensated signals so as toproduce a result. In some implementations, the result includes (588) anavigation result. For example, the result includes a range tosatellite, ranges to multiple satellites, navigation result(s),geographical location(s), and/or satellite time value(s).

The foregoing description, for purpose of explanation, has beendescribed with reference to specific embodiments. However, theillustrative discussions above are not intended to be exhaustive or tolimit the invention to the precise forms disclosed. Many modificationsand variations are possible in view of the above teachings. Theembodiments were chosen and described in order to best explain theprinciples of the invention and its practical applications, to therebyenable others skilled in the art to best utilize the invention andvarious embodiments with various modifications as are suited to theparticular use contemplated.

1. A signal receiver, comprising: an antenna interface for receivingsignals from an antenna; analog signal processing circuitry coupled tothe antenna interface for processing the received signals to producefiltered signals; sampling circuitry to sample the filtered signals soas to produce digitized received signals; a digital compensator toreceive the digitized received signals and compensate for non-uniformgroup delay introduced by the analog signal processing circuitry toproduce compensated digitized received signals; and a digital processorto process the compensated digitized received signals so as to produce aresult.
 2. The signal receiver of claim 1, wherein the digitalcompensator is configured to process the digitized received signalsusing a finite impulse response filter (FIR filter) with complex filtercoefficients to compensate for non-uniform group delay introduced by atleast the analog signal processing circuitry.
 3. The signal receiver ofclaim 2, wherein the complex filter coefficients of the FIR filtercorrespond to residual phase differences between target phase values andphase values of corresponding frequency components of the digitizedreceived signals.
 4. The signal receiver of claim 1, further comprising:a calibration signal generator, coupled to the antenna interface, toinject a calibration signal at the antenna interface; wherein thedigital compensator is configured in accordance with signals received bythe digital compensator in response to injection of the calibrationsignal at the antenna interface.
 5. The signal receiver of claim 4,wherein the calibration signal is selected from the group consisting ofa time domain signal corresponding to orthogonal frequency components ina predefined range of frequencies, a step carrier signal, and a sweptcarrier signal.
 6. The signal receiver of claim 4, wherein the digitalprocessor includes: control instructions for controlling when thecalibration signal generator injects the calibration signal at theantenna interface and for controlling configuration of the digitalcompensator in accordance with the digitized received signals receivedin response to the injection of the calibration signal at the antennainterface.
 7. The signal receiver of claim 4, wherein the digitalprocessor controls the configuration of the digital compensator, inpart, by performing a sequence of operations, comprising: atime-to-frequency domain transformation of the digitized receivedsignals, received in response to the calibration signal injected at theantenna interface, to produce a complex-valued frequency-domainrepresentation of the digitized received signals; an extraction ofmagnitude and phase information from the complex-valued frequency-domainrepresentation of the digitized received signals; obtaining targetfrequency-dependent phase information; a computation of phase residualsby subtraction of the extracted phase information from the targetfrequency-dependent phase information; generating a set of complexvalues from the computed phase residuals; and a frequency-to-time domaintransformation of the set of complex values to produce complex-valuedtime-domain filter coefficients corresponding to a finite impulseresponse filter.
 8. The signal receiver of claim 4, wherein thecalibration signal generator injects the calibration signal at theantenna interface at a duty cycle of less than one percent.
 9. Thesignal receiver of claim 4, further comprising a housing, wherein theantenna interface, the analog signal processing circuitry, the samplingcircuitry, the digital compensator, the digital processor and thecalibration signal generator are contained in the housing.
 10. Thesignal receiver of claim 4, wherein the calibration signal has anamplitude at least 40 db greater than an amplitude of the receivedsignals from the antenna.
 11. The signal receiver of claim 4, whereinthe amplitude and duration of the calibration signal is determined inaccordance with a criterion that the average power of the calibrationsignal is maintained lower than a value which would impact gain settingsof a gain control circuit of the signal receiver.
 12. The signalreceiver of claim 4, further comprising a clock to provide synchronizedclock timing signals to the calibration signal generator and thesampling circuitry.
 13. The signal receiver of claim 4, furthercomprising a single circuit board, wherein the antenna interface, theanalog signal processing circuitry, the sampling circuitry, the digitalcompensator, the digital processor and the calibration signal generatorare mounted on the single circuit board.
 14. The signal receiver ofclaim 4, wherein the calibration signal generator is controlled, atleast in part, by the digital processor.
 15. The signal receiver ofclaim 1, wherein the signal receiver is a satellite signal receiver andthe digital compensator compensates for signal distortions produced bythe analog signal processing circuitry in one or more predefined rangesof frequencies corresponding to frequencies of satellite signalsreceived by the signal receiver.
 16. The signal receiver of claim 1,further comprising a plurality of registers, each register to store andaverage samples from a respective orthogonal baseband signal of aplurality of orthogonal baseband signals generated from the receivedsignals.
 17. The signal receiver of claim 1, wherein the result producedby the digital processor comprises a navigation result.
 18. The signalreceiver of claim 17, wherein the navigation result is selected from thegroup consisting of one or more ranges to one more satellites,geographical positioning or location information, and a time value. 19.A method of signal compensation performed at a signal receiver, themethod comprising: configuring a digital compensator at the signalreceiver in accordance with digital signals received by the digitalcompensator in response to injection of a calibration signal at thesignal receiver by a calibration signal generator, the configuringincluding configuring the digital compensator to compensate fornon-uniform group delay introduced by analog signal processing circuitryof the signal receiver; receiving signals at the signal receiver;processing the received signals at the signal receiver to producedigitized received signals; compensating the digitized received signalsusing the digital compensator to produce compensated signals; andprocessing the compensated signals so as to produce a result.
 20. Themethod of claim 19, wherein configuring the digital compensatorcomprises: transforming the digital signals received by the digitalcompensator from time-domain to frequency-domain to produce acomplex-valued frequency-domain representation of the processed digitalsignals; extracting magnitude and phase information from thecomplex-valued frequency-domain representation of the processed digitalsignals; obtaining target frequency-dependent phase information;computing phase residuals by subtracting the extracted phase informationfrom the target frequency-dependent phase information; generating a setof complex values from the computed phase residuals; and transformingthe set of complex values from frequency-domain to time-domain toproduce complex-valued time-domain filter coefficients corresponding toa finite impulse response filter.
 21. The method of claim 20, whereinthe transforming includes multiplying an initial set of complex-valuedtime-domain filter coefficients by a windowing function to produce thecomplex-valued time-domain filter coefficients corresponding to a finiteimpulse response filter.
 22. A method of signal compensation performedat a signal receiver, the method comprising: receiving signals from anantenna; processing the received signals with analog signal processingcircuitry to produce filtered signals; sampling the filtered signalswith sampling circuitry to produce digitized received signals;compensating the digitized received signals, with a digital compensator,for non-uniform group delay introduced by the analog signal processingcircuitry to produce compensated digitized received signals; andprocessing the compensated digitized received signals so as to produce aresult.
 23. The method of claim 22, further including configuring thedigital compensator to process the digitized received signals using afinite impulse response filter (FIR filter) with complex filtercoefficients to compensate for non-uniform group delay introduced by atleast the analog signal processing circuitry.
 24. The method of claim23, wherein the complex filter coefficients of the FIR filter correspondto residual phase differences between target phase values and phasevalues of corresponding frequency components of the digitized receivedsignals.
 25. The method of claim 22, further comprising: injecting acalibration signal at an antenna interface of the signal receiver usinga calibration signal generator coupled to the antenna interface; andconfiguring the digital compensator in accordance with signals receivedby the digital compensator in response to injection of the calibrationsignal at the antenna interface.